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[22721] Increase 'max_blocking_time' in Easy Mode #1024

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Feb 3, 2025
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[22721] Increase 'max_blocking_time' in Easy Mode #1024

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2411dcc
Refs #22721: Docs about 'service' XML profile
cferreiragonz Jan 30, 2025
44204f5
Refs #22721: NIT
cferreiragonz Feb 3, 2025
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8 changes: 8 additions & 0 deletions docs/fastdds/env_vars/env_vars.rst
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Expand Up @@ -287,6 +287,14 @@ The transports configured in this new mode include :ref:`UDP<transport_udp_udp>`
A detailed tutorial can be found in the
`Vucanexus Easy Mode Tutorial <https://docs.vulcanexus.org/en/latest/rst/tutorials/core/wifi/easy_mode/easy_mode.html>`__ documentation.

.. note::
When ``ROS2_EASY_MODE`` is enabled, Fast DDS automatically loads a custom XML profile named ``service``.
This profile increases the server's response timeout for ROS 2 services by modifying the
|ReliabilityQosPolicy::max_blocking_time-api|.
However, if the user provides an XML file that already contains a profile with the same name, Fast DDS will not
load any extra profile.
Instead, the |ReliabilityQosPolicy::max_blocking_time-api| value defined in the user's XML file will be used.

.. warning::
Discovery Server ``ROS2_EASY_MODE`` is not yet available for Windows platforms.

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